ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-4, 119-126, 2016
https://doi.org/10.5194/isprs-annals-III-4-119-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
03 Jun 2016
LASER-BASED SLAM WITH EFFICIENT OCCUPANCY LIKELIHOOD MAP LEARNING FOR DYNAMIC INDOOR SCENES
Li Li, Jian Yao, Renping Xie, Jinge Tu, and Chen Feng School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, Hubei, China
Keywords: Scan Matching, Unmanned Ground Vehicle (UGV), Occupancy Likelihood Map, Simultaneous Localization and Mapping (SLAM) Abstract. Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAMin dynamic indoor scenes based on a 2D laser scanner mounted on a mobile Unmanned Ground Vehicle (UGV) with the help of the grid-based occupancy likelihood map. Instead of applying scan matching in two adjacent scans, we propose to match current scan with the occupancy likelihood map learned from all previous scans in multiple scales to avoid the accumulation of matching errors. Due to that the acquisition of the points in a scan is sequential but not simultaneous, there unavoidably exists the scan distortion at different extents. To compensate the scan distortion caused by the motion of the UGV, we propose to integrate a velocity of a laser range finder (LRF) into the scan matching optimization framework. Besides, to reduce the effect of dynamic objects such as walking pedestrians often existed in indoor scenes as much as possible, we propose a new occupancy likelihood map learning strategy by increasing or decreasing the probability of each occupancy grid after each scan matching. Experimental results in several challenged indoor scenes demonstrate that our proposed approach is capable of providing high-precision SLAM results.
Conference paper (PDF, 1784 KB)


Citation: Li, L., Yao, J., Xie, R., Tu, J., and Feng, C.: LASER-BASED SLAM WITH EFFICIENT OCCUPANCY LIKELIHOOD MAP LEARNING FOR DYNAMIC INDOOR SCENES, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-4, 119-126, https://doi.org/10.5194/isprs-annals-III-4-119-2016, 2016.

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